In order to cope with the increasingly severe power inspection task of transmission lines under the new situation of "Carbon Peak and Carbon Neutral", as well as the lack of consideration for the existing research on multi-objective joint power inspection and the lack of practical scenarios in which unmanned aeriel vehicles （UAVs） can hover and wait. This paper proposes a cooperative inspection path planning method for vehicle-mounted UAVs based on the "graph theory" theory, considering the joint power inspection of power towers and power lines with multiple targets. Firstly, considering the characteristics related to UAV arc routing and inspection vehicle node routing in power inspection, combined with the improved Chinese mailman problem, the discrete tower splitting arc algorithm is designed to quickly obtain a better preliminary planning scheme for cooperative inspection paths, and the impact on the results under different strategies and natural disaster conditions in different scenarios are compared and analyzed. Secondly, considering that the initial planning scheme is not a global optimal solution, this paper designs a simulated annealing algorithm that is consistent with this study to further optimize the preliminary planning scheme. Finally, the effectiveness and practicality of the path planning method are verified by arithmetic examples.